95 lines
3.3 KiB
C++
95 lines
3.3 KiB
C++
#ifndef WORKPIECEPOSITIONPRESENTER_H
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#define WORKPIECEPOSITIONPRESENTER_H
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#include <QTimer>
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#include <mutex>
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#include <vector>
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#include <memory>
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#include <future>
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#include "BasePresenter.h"
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#include "IYWorkpiecePositionStatus.h"
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#include "IBinocularMarkReceiver.h"
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#include "IEpicEyeDevice.h"
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#include "IVrConfig.h"
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/**
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* @brief 工件定位Presenter
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*
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* 继承自BasePresenter，使用BinocularMark和EpicEye设备进行工件定位
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* 不使用BasePresenter的激光相机功能，而是使用自己的设备管理
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*/
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class WorkpiecePositionPresenter : public BasePresenter
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{
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Q_OBJECT
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public:
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explicit WorkpiecePositionPresenter(QObject *parent = nullptr);
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~WorkpiecePositionPresenter();
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// 获取配置管理器
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IVrConfig* GetConfigManager() { return m_pConfig; }
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// ============ 重写 BasePresenter 的检测方法 ============
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int StartDetection(int cameraIndex = -1, bool isAuto = true) override;
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int StopDetection() override;
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protected:
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// ============ 实现 BasePresenter 纯虚函数 ============
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int InitApp() override;
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int InitAlgoParams() override;
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int ProcessAlgoDetection(std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache) override;
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EVzResultDataType GetDetectionDataType() override;
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void OnCameraStatusChanged(int cameraIndex, bool isConnected) override;
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// ============ 重写 BasePresenter 虚函数 ============
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void OnWorkStatusChanged(WorkStatus status) override;
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void OnStatusUpdate(const std::string& statusMessage) override;
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private slots:
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void onMarkReconnectTimeout();
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void onEpicEyeReconnectTimeout();
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private:
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// 初始化方法
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int InitConfig();
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int InitBinocularMarkReceiver();
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int InitEpicEyeDevice();
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// 回调处理
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void OnMarkResult(const std::vector<VrMark3D>& marks, qint64 timestamp, int errorCode);
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void OnMarkConnectionChanged(bool connected);
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// 算法处理
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int CalculateWorkpieceCenter(const std::vector<VrMark3D>& marks, const PointCloudData& pointCloud, WorkpieceCenterPosition& centerPosition);
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// 连接方法
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int ConnectToBinocularMark();
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int ConnectToEpicEye();
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private:
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// 配置相关
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IVrConfig* m_pConfig = nullptr;
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ConfigResult m_configResult;
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// BinocularMark 设备
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IBinocularMarkReceiver* m_pMarkReceiver = nullptr;
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std::string m_binocularMarkIp;
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quint16 m_binocularMarkPort = 0;
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bool m_bMarkConnected = false;
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QTimer* m_pMarkReconnectTimer = nullptr;
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// EpicEye 设备
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IEpicEyeDevice* m_pEpicEyeDevice = nullptr;
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std::string m_epicEyeIp;
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bool m_bEpicEyeConnected = false;
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QTimer* m_pEpicEyeReconnectTimer = nullptr;
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// 检测相关
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bool m_bDetecting = false;
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std::mutex m_detectMutex;
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std::vector<VrMark3D> m_lastMarks;
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std::shared_ptr<std::future<void>> m_detectionFuture;
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};
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#endif // WORKPIECEPOSITIONPRESENTER_H
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